from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory

def generate_launch_description():
    return LaunchDescription([
        Node(
            package='odometry_chassis',      
            executable='odometry_chassis_node', 
            name='odometry_chassis_node',   
            output='screen',
            parameters=[
                        get_package_share_directory("odometry_chassis")
                        + "/config/odometry_chassis.yaml",
                    ],
            remappings=[             
                ('cmd_vel', '/cmd_vel')
            ]
        )
    ])

